EP0628385B1 - Corps élastique - Google Patents

Corps élastique Download PDF

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Publication number
EP0628385B1
EP0628385B1 EP93109348A EP93109348A EP0628385B1 EP 0628385 B1 EP0628385 B1 EP 0628385B1 EP 93109348 A EP93109348 A EP 93109348A EP 93109348 A EP93109348 A EP 93109348A EP 0628385 B1 EP0628385 B1 EP 0628385B1
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EP
European Patent Office
Prior art keywords
actuators
change
hand
elastic body
slave
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP93109348A
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German (de)
English (en)
Other versions
EP0628385A1 (fr
Inventor
Wolfgang Daum
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
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Individual
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Filing date
Publication date
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Priority to EP93109348A priority Critical patent/EP0628385B1/fr
Priority to DE59300152T priority patent/DE59300152D1/de
Publication of EP0628385A1 publication Critical patent/EP0628385A1/fr
Application granted granted Critical
Publication of EP0628385B1 publication Critical patent/EP0628385B1/fr
Priority to US08/929,496 priority patent/US6408289B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A61F2/586—Fingers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1085—Programme-controlled manipulators characterised by positioning means for manipulator elements positioning by means of shape-memory materials
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2002/30001—Additional features of subject-matter classified in A61F2/28, A61F2/30 and subgroups thereof
    • A61F2002/30003—Material related properties of the prosthesis or of a coating on the prosthesis
    • A61F2002/3006—Properties of materials and coating materials
    • A61F2002/30092—Properties of materials and coating materials using shape memory or superelastic materials, e.g. nitinol
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2002/30001—Additional features of subject-matter classified in A61F2/28, A61F2/30 and subgroups thereof
    • A61F2002/30108—Shapes
    • A61F2002/30199—Three-dimensional shapes
    • A61F2002/30289—Three-dimensional shapes helically-coiled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5007—Prostheses not implantable in the body having elastic means different from springs, e.g. including an elastomeric insert
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2002/704—Operating or control means electrical computer-controlled, e.g. robotic control
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2210/00—Particular material properties of prostheses classified in groups A61F2/00 - A61F2/26 or A61F2/82 or A61F9/00 or A61F11/00 or subgroups thereof
    • A61F2210/0014—Particular material properties of prostheses classified in groups A61F2/00 - A61F2/26 or A61F2/82 or A61F9/00 or A61F11/00 or subgroups thereof using shape memory or superelastic materials, e.g. nitinol
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2230/00—Geometry of prostheses classified in groups A61F2/00 - A61F2/26 or A61F2/82 or A61F9/00 or A61F11/00 or subgroups thereof
    • A61F2230/0063—Three-dimensional shapes
    • A61F2230/0091—Three-dimensional shapes helically-coiled or spirally-coiled, i.e. having a 2-D spiral cross-section

Definitions

  • the invention relates to a device for gripping according to the preamble of claim 1, a device for sensing the change in shape of a body according to the preamble of claim 5, and a method for using this device according to the preamble of claim 7.
  • Such devices or such a method are, for example in GB-A-2 013 617.
  • the object and aim of the invention is to provide an elastic body that can change its shape almost continuously, is controlled by computer algorithms and as a mechanical element e.g. serves to generate power and movement.
  • the focus is also on creating a kind of organic body in the sense that it can be controlled by self-learning algorithms.
  • the aim is to measure the change in shape of such a self-deforming element.
  • Hand-built replicas that can be steered remotely are known, e.g. in WO-A-90/04370.
  • the number of actuating elements is limited so that this can only be carried out on the one hand by predetermined design and on the other hand very abrupt movements. The current position of the limbs is not measured.
  • FIG. 1 shows an elastic body (1) made, for example, of silicone rubber.
  • Coil springs (2) are cast into these, which can contract according to a mechanism explained below. They are called actuators here because they perform a movement or action in the switching state.
  • Fig. 1a they are in the unswitched basic state in front. Switched, Fig. 1b, they contract and thus the body, the shape of the body (1) changes, it undulates and the interfaces (3) and (4) approach.
  • Shape memory metals such as certain titanium-nickel alloys change their external shape at certain temperatures due to a phase change.
  • the spirals shown in Fig. 1 are made of such a material. The switching state is achieved by changing the temperature.
  • FIG. 2a shows a part of a two-dimensional force element matrix made of shape memory wires.
  • the wires can be individually controlled and directly heated by selecting the correct switching lines (5 ') and (5' ').
  • the resistance of the switching lines (5 ') and (5' ') is such that only the shape memory wires heat up.
  • Relaxing devices (6) make the matrix flexible for movements. With e.g. ring-shaped holders (7), Fig. 2b, the shape memory wires (4) can be held in the elastic material of the body during the change in shape.
  • Fig. 2a Several of the two-dimensional matrices shown in Fig. 2a are cast in a rubber-elastic body.
  • the levels formed by the matrices are offset from each other by about half a wire length (11).
  • 3a illustrates this in two layers (8) and (9).
  • the levels do not need to be real, but only have a mental ordering character. It is representative of all elements of a level based on the bend of the wires (10 ') and (10'') the direction of action of the actuators of the levels (8) and (9) is shown.
  • 3b shows a section through part of such a multilayer system.
  • the actuators (10) were switched so that they and therefore the body (12) bend. If other actuators were switched, the shape of the body would change (12).
  • FIG. 4 shows an application example.
  • a lid which is designed as an elastic body with a large number of embedded actuators.
  • this lid is open. By means of the movement mechanism described above, it automatically lies on the opening, FIG. 4b, and closes it in a sealing manner, FIG. 4c.
  • FIG. 5 shows an artificial hand made of, for example, silicone rubber.
  • the actuators (17) are inserted into the material without strict order are.
  • These actuators are spirals (17) made from shape memory material.
  • a bent state of the index finger is shown, which is caused by the contraction of the spirals (17 ') on the underside of the finger or also the stretching of the spirals (17'') on the underside of the fingers.
  • Any support wires are not shown.
  • a construction would also be conceivable, which is composed of individual muscle strands.
  • the switching or sensor elements (18) described below indicate the position of the finger (16) to the controlling computer.
  • the exact position of the actuators need not be known, as in the example in FIG. 3.
  • the controlling computer can learn the movements with graphic data evaluation. This learning process is possible because the elastic body with its large number of actuators enables the control algorithm to select exactly the actuators that are required for the desired movement. The higher the number of actuators, the higher the selection.
  • the movements of the self-shaping element are determined not only by the construction but especially by the controlling computer program. Precisely because the sequence of movements cannot be calculated in advance due to the large number of actuators and their inclusion in an elastic material, such a self-shaping element is suitable for control using self-learning algorithms. Such an elastic body becomes muscle-like.
  • the actuators can also be made from bimetallic metals.
  • a bimetal (19) consisting of a material (20) having a higher thermal expansion than a material (21), is shown as an example in FIG. 6a.
  • the bimetallic strip (19) is unswitched and therefore unbent, in the lower figure switched and therefore bent.
  • the actuators can also work electromagnetically.
  • Such an actuator is shown in FIG. 6b. This consists of a magnetic core (22) which can be pressed out of a sheath (24) by the electromagnetic field generated by a coil (23) and drawn back in again. Two actuators are shown in the lower drawing. The upper one with an extended, the lower one with a retracted core.
  • Electromagnetic also means that the individual actuators themselves do not perform any internal movement, but simply repel or attract each other in the switched state. The elastic material lying between them would then be stretched or compressed. 6c shows two actuators (25) and (26), which repel each other in the switching state of the current-carrying coils (27), lower diagram (arrow).
  • actuators shown in this document are only examples. Actuators that rotate, wind, stretch, contract, stretch, etc. are conceivable, as well as those made of thin layers and foils. The actuators could also work piezoelectrically or electrostrictively. Self-forming bodies themselves could be used as actuators.
  • pressure sensors or switches can be embedded in the elastic body.
  • the pressure sensors measure the internal pressure of the elastic body, which can then be interpreted with the change in shape.
  • a large number of electrical switches which only know the "open” or “closed” state are simpler, faster and more cost-effective for computer control.
  • FIG. 7 shows possible switch configurations that are embedded in the elastic material (28).
  • the switches each have an elastic sheath (29) and two switch contacts (30) and (31) to which the signal wires (32) and (33) are connected.
  • the switch in the upper part of Fig. 7a is open, no current flows.
  • the elastic body (28) is compressed, the switch contacts touch, so that the circuit closes.
  • Fig. 7b the contact is closed when the elastic body (28) bends - lower part -.
  • the switches (18) shown in FIG. 5 could be constructed like those in FIG. 7b.
  • the closed switches (18 ') would then provide information about the bending of the finger (16) or the change in shape of the elastic body. The result is more accurate the more switches there are.
  • the correlation of the switch states with the bending of the finger (16) can be carried out using a self-learning computer algorithm.
  • the large number of switches or sensors ensures that the position of such a body can be determined by self-learning associative algorithms. Similar to e.g. People who no longer have to think about the individual partial movements during fast but known movements would then only have to be queried for a few exposed switch positions in order to recognize the position of the body associatively.
  • the large number of actuators and sensors therefore makes the mechanics more organic.
  • FIG. 8a shows the elastic body (34) with three material cutouts (35 '), (35''),(35''') and the bare material incision (35 ''').
  • the switches (36 '), (36''),(36''') and (36 '''') made up of two switch contacts are in contrast to the following figures 8b - 8f in Fig. 8a not yet inserted into the elastic body (34) for clarification.
  • Reading out this number of switches is particularly simple due to the digital switch structure. You can work without complex measured value corrections (temperature, time, hysteresis) or analog-digital converter.
  • the principle of the switch arrangement shown in FIG. 8 can be used for a data glove.
  • a finger part of such a glove is shown in cross-section in FIG. 9.
  • the human finger (37) is inserted into the finger part, which consists of an elastic body (38) in which a large number of switches (39) are embedded.
  • the shape of the elastic body (38) changes so that the switches are opened, such as (40).
  • the movement of the human extremities can be recorded in this way.
  • This switch data can then be used, for example, to control the robot hand of FIG. 5.
  • the robot hand could also wear an exactly identical data glove.
  • the computer can move the robot hand so that it performs the same movements as that of the human hand. The higher the number of switches, the closer the match.
  • FIG. 10 shows a further application of an elastic body with a large number of embedded switches.
  • the body consists of three elastic, thin plates (42), (43) and (44).
  • FIG. 10a shows in an exploded view and plate (44) in a view. But in the real structure they lie on top of each other and are connected to form a body.
  • Metal thin layers are evaporated onto the plate (42) and under the plate (44), which are so thin that they undergo slight deformations of the elastic body without breaking.
  • the layers are structured into conductor tracks (45) and (46), which in turn are at right angles to one another.
  • the middle layer (43) is provided with continuous recesses (47) exactly where two metal conductor tracks of the plates (42) and (44) intersect.
  • an elastic body of this type can be used for spatially resolved pressure measurement.
  • Such sensor matrices can e.g. for spatially resolved buttons on the fingertips of the robot hand shown in FIG. 5.
  • a more precise print resolution can be achieved by superimposing several such sensor matrices.
  • appropriate actuators e.g. are designed as spiral springs (41)
  • the keying result thus determined can be transmitted to the fingertip of the human finger (37) in the data glove of FIG. 9.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Transplantation (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • General Health & Medical Sciences (AREA)
  • Cardiology (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rheumatology (AREA)
  • Manipulator (AREA)

Claims (8)

  1. Dispositif de préhension déformable par des actionneurs et ètant realisé en materiau élastique caracterisé par le fait qu' un grand nombre d'actionneurs, disposés au dense voisinage l'un à l'autre (2, 10, 17), sont encastrés dans ce materiau elastique et peuvent être montés séparément ou en groupes, ce qui fait que tout changement de forme peut être obtenu.
  2. Dispositif selon la revendication 1 caracterisé par le fait que le dispositiv a la forme d'une main.
  3. Dispositif selon les revendications 1 et 2 caracterisé par le fait que les actionneurs sont réalisés en mètaux à mémoriser le changement de forme (shape memory metal) (2, 10, 17) ou en thermobimetaux (19) ou bien qui'ils fonctionnent d'une manière électromagnétique, pièzo-electrique ou électrostrictive.
  4. Dispositif selon les revendications 1, 2 et 3 caracterisé par le fait que les metaux a mémoriser le changement du forme sont construits en spirales (2,17).
  5. Dispositif pour le balayage du changement de forme d'un corps caracterisé par le fait qu'il est réalisé en materiau élastique (28, 34, 38) dans lequel un grand nombre de commutateurs (18) ou d'éléments sensibles, situés tès près l'un de l'autre, sont encastrés et que ces derniers changent leur signal de sortie en cas que la préssion interieure dans le materiau elastique environnant change à cause d'un changement de forme du corps.
  6. Dispositif selon la revendication 5 caracterisé par le fait que le corps élastique (28, 34, 38) sert à balayer le changement de forme de la main humaine et à introduire des données de ce changement à un ordinateur et que ledit dispositif a la forme d'un gant (38), dans lequel la main humaine (37) est insérée est remuée.
  7. Procédé pour l'utilisation d'un dispositif de préhension selon la revendication 1 et d'un dispositiv de balayage selon les revendications 5 et 6 d'apres le procédé bras esclave - bras maître (Master-Slave) caracterisé par le fait que la main humaine (37) et la main esclave (16) sont completées de gants de balayage identiques et que la position réelle de la main esclave (16) est déterminée par comparaison directe de positions de ces deux gants et la position nominale est obtenu par commande supplémentaire.
  8. Procédé selon la revendication 7 caracterisé par le fait que la commande de la main esclave ou l'évaluation des données de la comparaison est effectué par un algorithme autoapprenant.
EP93109348A 1993-06-11 1993-06-11 Corps élastique Expired - Lifetime EP0628385B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP93109348A EP0628385B1 (fr) 1993-06-11 1993-06-11 Corps élastique
DE59300152T DE59300152D1 (de) 1993-06-11 1993-06-11 Elastischer Körper.
US08/929,496 US6408289B1 (en) 1993-06-11 1997-09-15 Shapeable elastic body with master unit and method of controlling

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP93109348A EP0628385B1 (fr) 1993-06-11 1993-06-11 Corps élastique

Publications (2)

Publication Number Publication Date
EP0628385A1 EP0628385A1 (fr) 1994-12-14
EP0628385B1 true EP0628385B1 (fr) 1995-04-19

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EP93109348A Expired - Lifetime EP0628385B1 (fr) 1993-06-11 1993-06-11 Corps élastique

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DE (1) DE59300152D1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997027822A1 (fr) * 1996-01-30 1997-08-07 John Chilver Muscle artificiel
CN101717064B (zh) * 2009-10-27 2012-04-25 赵德政 一种仿生伸缩基体单元
FR2965501B1 (fr) * 2010-09-30 2013-08-02 Commissariat Energie Atomique Structure mecatronique flexible pour un ensemble cinematique, dispositif chirurgical et membre artificiel utilisant cette structure

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2416094A1 (fr) * 1978-02-01 1979-08-31 Zarudiansky Alain Dispositif de manipulation a distance
US4792173A (en) * 1987-10-30 1988-12-20 Duke University Fluid actuated limb

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
'PROCEEDINGS 1990 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION' Mai1990 , IEEE COMPUTER SOCIETY FUKUDA ET AL. :DISTRIBUTED TYPE OF ACTUATORS BY SMA AND ITS APPLICATION TO UNDERWATER MOBILE ROBOTIC MECHANISM PAGES 1316 TO 1321 : *

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DE59300152D1 (de) 1995-05-24
EP0628385A1 (fr) 1994-12-14

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